Vous êtes sur la page 1sur 40

30

20

0 15

X Y Estimated Position
X Y Real Position
Anchor Node

10

-10

10

20

-10
X-Axis

30

40

A=-95dbm
No.of Simulation

n=10.8
offset=-45
distance =40
X-est
Y-est
X-actual Y-actual
1
12.51
9.4
10
10
2
16.46
6.76
15
10
3
20
6.72
20
10
4
23.54
6.76
25
10
5
28.56
13.62
30
15
6
20
11.31
20
15
7
16.21
12.08
15
15
8
11.44
13.62
10
15
9
16.45
1.93
15
5
10
-0.52
15.98
0
15

total sum
mean (Average)
S.D

X-est

sum
mean

X-actual error
12.51
10
16.46
15
20
20
23.54
25
28.56
30
20
20
16.21
15
11.44
10
16.45
15
-0.52
0

Y-est
2.51
1.46
0
1.46
1.44
0
1.21
1.44
1.45
0.52
11.49
1.149

9.4
6.76
6.72
6.76
13.62
11.31
12.08
13.62
1.93
15.98

Localization Error (Meter)


2.58
3.55
3.28
3.55
1.99
3.69
3.16
1.99
3.40
1.11

x-x,y-y
power

-0.52
0.2704

0.98
0.9604

1.2308
1.109414

9.00

0
40
15

0
0
20

5.00
Localization Error
error

10
10
10
10
15
15
15
15
5
15

7.00
6.00

28.31
2.83
0.87

Y-actual

8.00

0.6
3.24
3.28
3.24
1.38
3.69
2.92
1.38
3.07
0.98
23.78
2.378

4.19
4.00
3.00

2.58

2.00
1.00
0.00
1

or

sum
sqr

9.00

8.46

8.46

8.00

7.60

7.00
6.33
6.00
No.of Simulation

5.00
4.19
4.00
3.00

3.55
2.58

2.00

1
2
3
4
3.28 5
6
7
8
9
10

3.55

2.58
3.55
3.28
3.55
3.44
1.99
3.69
3.16
1.99
1.99
3.40
1.11

4.19
8.46
7.60
3.69
8.46
3.44
6.33
3.63
4.18
2.36
1.48

4.18
3.63
3.16

3.40

2.3
1.99

1.00
0.00
1

Number of Simulation

4.18

-95dBm RSSI Sensitivity


-80 dBm RSSI Sensitivity

3.40
2.36
1.99
1.48
1.11

10

A=-80dbm
No.of Simulation

n=9.86
offset=-45
X-est
Y-est
X-actual
1
12.64
6.74
2
16.56
1.69
3
20
2.4
4
23.44
1.69
5
28.57
11.87
6
20
8.67
7
16.25
9.74
8
11.97
11.31
9
16.72
6.62
10
-1.42
14.59

distance =40
Y-actual
Localization Error (Meter)
10
10
4.19
15
10
8.46
20
10
7.60
25
10
8.46
30
15
3.44
20
15
6.33
15
15
3.63
10
15
4.18
15
5
2.36
0
15
1.48

total sum
mean (Average)
S.D

X-est

sum
mean

X-actual error
12.64
10
16.56
15
20
20
23.44
25
28.57
30
20
20
16.25
15
11.97
10
16.72
15
-1.42
0

50.13
5.01
2.52695

Y-est
2.64
1.56
0
1.56
1.43
0
1.25
1.97
1.72
1.42
13.55
1.355

Y-actual
6.74
1.69
2.4
1.69
11.87
8.67
9.74
11.31
6.62
14.59

error
10
10
10
10
15
15
15
15
5
15

3.26
8.31
7.6
8.31
3.13
6.33
5.26
3.69
-1.62
-0.41
43.86
4.386

x-x,y-y
power

-1.42
2.0164

0
40
15

-0.41
0.1681

30

2.1845 sum
1.478005 sqr

0
0
20

20

Axis Title

10

0
-10

10

20

-10

Axis Title

30

-10

Axis Title

le

X Y Estimated Position
X Y Real Position
Anchor Node

30

40

50

le

A=-95dbm
No.of Simulation

n=10.8
offset=-45
n=-95
distance=35
X-est
Y-est
X-actual Y-actual
1
11.8
11.37
10
2
15.44
10.49
15
3
19.56
10.49
20
4
23.62
11.8
25
5
28.68
15.91
30
6
19.69
14.09
20
7
15.58
14.46
15
8
11.13
14.98
10
9
15.5
7.25
15
10
-0.23
16.75
0

10
10
10
10
15
15
15
15
5
15

total sum
mean (Average)
S.D

X-est

sum
mean

X-actual error
11.8
10
15.44
15
19.56
20
23.62
25
29.36
30
19.42
20
15.58
15
11.13
10
15.5
15
-0.23
0

Y-est
1.8
0.44
0.44
1.38
0.64
0.58
0.58
1.13
0.5
0.23
7.72
0.772

11.37
10.49
10.49
11.8
16.16
14.46
14.46
14.98
7.25
16.75

Localization Error (Meter)


2.26
0.66
0.66
2.27
1.32
0.79
0.79
1.13
2.30
1.77

x-x,y-y
power

-0.23
0.0529

0
35
15

1.75
3.0625

0
0
20

3.1154
1.76505

2
10;

13.96
1.40
0.7

1
Y-Axis

Y-actual

error
10
10
10
10
15
15
15
15
5
15

1.37
0.49
0.49
1.8
1.16
0.54
0.54
0.02
2.25
1.75

-10

10.41
1.041

-1

30
sum
sqr

20
10; 16.75

5; 15.91

8; 14.98 7; 14.46
6; 14.09
10; 15

8; 1;
1511.377; 15
6; 15
2; 10.49 3; 10.49

10
1; 10

9; 10
7.25
2;

3; 10

4; 11.8

5; 15

4; 10

9; 5
0

-10

10

20

X-Axis

30

5; 15.91

11.8

5; 15
X Y Estimated Position
X Y Real Position
Anchor Node

4; 10

30

40

A=-95dbm
No.of Simulation

n=10.8
offset=-45
n=-95
distance=30
X-est
Y-est
X-actual Y-actual
1
10.93
12.96
10
2
15
12.21
15
3
19.07
12.96
20
4
23.36
13.3
25
5
30.39
17.33
30
6
19.32
16.13
20
7
15.35
15.85
15
8
10.68
16.13
10
9
15
9.43
15
10
0.49
17.33
0

10
10
10
10
15
15
15
15
5
15

total sum
mean (Average)
S.D

X-est

sum
mean

X-actual error
10.93
10
15
15
19.07
20
23.36
25
30.39
30
19.32
20
15.35
15
10.68
10
15
15
0.49
0

Y-est
0.93
0
0.93
1.64
0.39
0.68
0.35
0.68
0
0.49
6.09
0.609

12.96
12.21
12.96
13.3
17.33
16.13
15.85
16.13
9.43
17.33

Localization Error (Meter)


3.10
2.21
3.10
3.69
2.36
1.32
0.92
1.32
4.43
2.38

x-x,y-y
power

24.83
2.48
1.12

Y-actual

0.49
0.2401

0
40
20

0
0
20

15

0
30
15

2.33
5.4289

5.669
2.380966

0
0
20

Y- Axis

error
10
10
10
10
15
15
15
15
5
15

2.96
2.21
2.96
3.3
2.33
1.13
0.85
1.13
4.43
2.33
23.63
2.363

-10

30
sum
sqr

20
17.33

16.13
8; 15

10; 15

12.96
10

1; 10

17.33

15.85 16.13
7; 15
6; 15
12.21
2;
10
9.43

12.96
3; 10

5; 15
13.3
4; 10

9; 5

-10

10

20

-10
X- Axis

30

17.33
5; 15
13.3
X Y Estimated Position
X Y Real Position
Anchor Node

4; 10

30

40

No.of Simulation
1
2
3
4
5
6
7
8
9
10

Localization Error (Meter)


3.10
2.21
3.10
3.69
2.36
1.32
0.92
1.32
4.43
2.38

No.of Simulation
1
2
3
4
5
6
7
8
9
10

Localization Error (Meter)


2.26
0.66
0.66
2.27
1.32
0.79
0.79
1.13
2.30
1.77

No.of Simulation
1
2
3
4
5
6
7
8
9
10

Localization Error (Meter)


2.58
3.55
3.28
3.55
1.99
3.69
3.16
1.99
3.40
1.11

5.00
4.50
4.00
3.50
3.00

Localization Error (Meter)

2.50
2.00
1.50
1.00
0.50
0.00

5.00
4.50

4.43

4.00
3.40

3.28
3.10

3.10

3.00

3.69

3.69
3.55

3.55

3.50

3.16

2.58

2.50

2.26

2.27

2.21

2.00

2.36

2.30

1.99

2.38

1.99
1.77

1.50

1.32

1.32

1.00
0.66

0.50
0.00

0.79

0.66

Number of simulation

1.32
1.13

1.11

0.92
0.79

10

4.43

3.40

2.30

Distance of 30m
Linear (Distance of 30m)
Distance of 35m
Linear (Distance of 35m)
Distance of 40m
Linear (Distance of 40m)

2.38

99
1.77

32
13

1.11

10

11

Localization Error (Meter)

35 35diff
Localization Error (Meter)
2.26
0.66
0.66
2.27
1.32
0.79
0.79
1.13
2.30
1.77

2.47
2.24
2.17
1.95
1.85
3.49
3.17
3.05
0.86
0.55

No.of Simulation
1
2
3
4
5
6
7
8
9
10

4.00

3.50

3.00

2.50

2.47
2.26

Axis Title

2.00

1.50

1.00

0.50

0.00
0

3.49
3.17

3.05

2.47
2.26

2.24

2.17

2.27
1.95

1.85

1.32
1.13

0.66

0.79

0.66

5
Axis Title

0.79

.17

3.05

2.30
Localization Error 1
Linear (Localization Error 1)

1.77

Localization Error 2
Linear (Localization Error 2)

1.13
0.86

.79

0.55

10

11

A=-95dbm
No.of Simulation

n=10.8
offset=-45
n=-95
distance =35
X-est
Y-est
X-actual Y-actual
1
11.8
8.31
10
10
2
15.44
7.8
15
10
3
19.56
7.87
20
10
4
23.62
8.62
25
10
5
28.68
13.7
30
15
6
19.69
11.52
20
15
7
15.58
11.88
15
15
8
11.13
12.17
10
15
9
15.5
4.3
15
5
10
-0.23
15.5
0
15

total sum
mean (Average)
S.D

X-est

sum
mean

X-actual error
11.8
10
15.44
15
19.56
20
23.62
25
28.68
30
19.69
20
15.58
15
11.13
10
15.5
15
-0.23
0

Y-est
1.8
0.44
0.44
1.38
1.32
0.31
0.58
1.13
0.5
0.23
8.13
0.813

8.31
7.8
7.87
8.62
13.7
11.52
11.88
12.17
4.3
15.5

Localization Error (Meter)


2.47
2.24
2.17
1.95
1.85
3.49
3.17
3.05
0.86
0.55

x-x,y-y
power

0
35
15

21.82
2.18
0.95

Y-actual

-0.23
0.0529

0.5
0.25

0.3029
0.550364

0
0
20

Y- Axis
error

10
10
10
10
15
15
15
15
5
15

1.69
2.2
2.13
1.38
1.3
3.48
3.12
2.83
0.7
0.5
19.33
1.933

-10

30
sum
sqr

20
10;
10; 15.5
15

xis

8; 15

7; 15

6; 15

5;

8; 12.17 7; 11.886; 11.52


1; 10
2; 10
3; 10
4; 10
1; 8.312; 7.8 3; 7.87 4; 8.62

10

9; 5
9; 4.3

-10

10

20

-10
Y-Axis

30

15

5; 15
5; 13.7

11.52
10
4; 10
4; 8.62
7.87

X Y Estimated Position
X Y Real Position
Anchor Node

30

40

A=-95dbm
No.of Simulation

n=10.8
offset=-45
n=-95
distance =40 ,35,30
X-est
Y-est
X-actual Y-actual
1
11.8
11.37
10
10
2
15.44
10.49
15
10
3
19.56
10.49
20
10
4
23.62
11.8
25
10
5
28.68
15.91
30
15
6
19.69
14.09
20
15
7
15.58
14.46
15
15
8
11.13
14.98
10
15
9
15.5
7.25
15
5
10
-0.52
15.98
0
15

total sum
mean (Average)
S.D

X-est

sum
mean

X-actual error
11.8
10
15.44
15
19.56
20
23.62
25
28.68
30
19.69
20
15.58
15
11.13
10
15.5
15
-0.52
0

Y-est
1.8
0.44
0.44
1.38
1.32
0.31
0.58
1.13
0.5
0.52
8.42
0.842

11.37
10.49
10.49
11.8
15.91
14.09
14.46
14.98
7.25
15.98

Localization Error (Meter)


2.26
0.66
0.66
2.27
1.32
0.79
0.79
1.13
2.30
1.11

x-x,y-y
power

-0.52
0.2704

0
40
20
35
30

0.98
0.9604

1.2308
1.109414

0
0
20
0
0

13.30
1.33
0.6879

Y-actual

error
10
10
10
10
15
15
15
15
5
15

1.37
0.49
0.49
1.8
0.91
0.91
0.54
0.02
2.25
0.98
9.76
0.976

Axis Title

30

20

10

Axis Title

0
-10

10

20

-10
Axis Title

X Y Estimated Position
X Y Real Position
Anchor Node

20

xis Title

30

40

50

ted Position

sition

de

No.of Simulation

my method
1
2
3
4
5
6
7
8
9
10

40m
2.26
0.66
0.66
2.27
1.32
0.79
0.79
1.13
2.30
1.11

2.58
3.55
3.28
3.55
1.99
3.69
3.16
1.99
3.40
1.11

4.00

3.55
3.50

3.
3.28

3.00

2.58
2.50

2.27

2.26

Localization Error

2.00

1.50

1.00

0.66

0.66

0.50

0.00
1

3.69

3.55

3.40

3.28

3.16

2.30

2.27
1.99

1.99

New Enh
Normal S
1.32
1.13

0.66

0.79

0.79

Number of Simulation

1.11
1.11

10

1 .11

10

New Enhancement Method


Normal Simulation 40 meters